ピッチ角制御機構を有する8自由度クアッドコプターの開発

抄録

Recently, the quadcopter has attracted much attention in the various industrial fields. Typical quadcopter has four rotors, that is, four inputs, although degrees of freedom of the quadcopter are six. Therefore, the typical quadcopter is a kind of underactuated systems. In this paper, we propose higher performance quadcopter than typical ones. We develop the pitch angle control unit, which can change pitch angle of each rotor with respect to the body of the quadcopter. By equipping with four units to one quadcopter, control inputs are eight and the quadcopter becomes a fully-actuated system. Flight experiment shows that the quadcopter has enough lift force and payload.